Material rotating device and control method

Abstract

The application provides a material rotating device and a control method, the device comprising a moving seat module, a moving seat translation module, a base, a lifting top platform module and a moving lever module; the number of the moving seat module is greater than one; the moving seat module is used for fixing materials; the moving seat translation module is connected with each moving seat module and is used for driving each moving seat module to move in the horizontal direction; the bottom surface of the lifting top platform module is fixedly connected with the base, and the top surface of the lifting top platform module is fixedly connected with the bottom surface of the moving lever module; the lifting top platform module is used for driving the moving lever module to move up and down; the moving seat module is located above the moving lever module; when each moving seat module moves to the position corresponding to the moving lever module and the moving lever module rises to the action position, the moving lever module is used for driving each moving seat module to rotate. The material rotating device provided by the application can realize the moving and rotating operations of multiple materials at the same time, saves operation time and reduces production cost.

Description

Technical Field

[0001] This application relates to the field of automation technology, and in particular to a material rotation device and control method. Background Technology

[0002] In the manufacturing process of integrated circuits and other materials, after the packaging step, finished product testing, screening, and packaging are required. These operations involve a large number of chip movements, and there are rotation angle requirements during these movements. However, existing chip movement operations are usually performed on single or two chips, which is inefficient and cannot meet the rotation angle requirements. On the other hand, the chip movement and rotation structures contain a large number of motors and guide rails, making them complex and difficult to debug. Therefore, in actual production, chip movement and rotation consume a lot of time, reducing the efficiency of chip testing and packaging, and increasing the cost of the testing and packaging process. Summary of the Invention

[0003] To address the problem that existing material handling equipment struggles to achieve simultaneous rotation of multiple materials, this application provides a material rotation device and control method that can simultaneously realize the movement and rotation of multiple materials, saving operation time and reducing production costs.

[0004] The technical solution is as follows:

[0005] This invention provides a material rotating device, characterized in that the device includes:

[0006] The system includes a movable seat module, a movable seat translation module, a base, a lifting platform module, and a movable lever module; the number of movable seat modules is greater than one.

[0007] The movable seat module is used to fix the material;

[0008] The translation module of the moving seat is connected to each moving seat module and is used to drive each moving seat module to move in the horizontal direction.

[0009] The bottom surface of the lifting platform module is fixedly connected to the base, and the top surface of the lifting platform module is fixedly connected to the bottom surface of the moving lever module; the lifting platform module is used to drive the moving lever module to move up and down.

[0010] The movable seat module is located above the movable lever module. When each of the movable seat modules moves to the position corresponding to the movable lever module, and the movable lever module rises to the action position, the movable lever module is used to drive each of the movable seat modules to rotate.

[0011] On the other hand, a material rotating device control method is provided, applied to the material rotating device as described above, the method comprising:

[0012] In response to the start command, the control of the moving seat translation module drives each moving seat module to the material feeding position; the material feeding position corresponds to the target material, and each target material is placed on each of the moving seat modules respectively;

[0013] The control unit moves each of the movable base modules to the lever position; the lever position corresponds to the movable lever module.

[0014] The lifting platform module controls the moving lever module to rise to a first height, and the moving lever module drives each moving seat module to rotate to a target angle; the first height corresponds to the moving seat module.

[0015] The lifting platform module is controlled to lower the moving lever module to the initial height, and the moving seat translation module is controlled to move each moving seat module to the operation position or material picking position.

[0016] The beneficial effects of the technical solution provided in this application include at least the following: The embodiments of the present invention provide a material rotation device, including a movable seat module, a movable seat translation module, a base, a lifting top platform module, and a movable lever module; the number of movable seat modules is greater than one; the movable seat modules are used to fix materials; the movable seat translation module is connected to each movable seat module and is used to drive each movable seat module to move horizontally; the bottom surface of the lifting top platform module is fixedly connected to the base, and the top surface of the lifting top platform module is fixedly connected to the bottom surface of the movable lever module; the lifting top platform module is used to drive the movable lever module to move up and down; the movable seat module is located above the movable lever module, and when each movable seat module moves to a position corresponding to the movable lever module, and the movable lever module rises to the operating position, the movable lever module is used to drive each movable seat module to rotate. The material rotation device provided by the present invention can simultaneously realize the movement and rotation of multiple materials, saving operation time and reducing production costs. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This invention provides a schematic diagram of the structure of a material rotating device according to an exemplary embodiment of the present application.

[0019] Figure 2This application shows another structural schematic diagram of a material rotating device provided in an exemplary embodiment;

[0020] Figure 3 A cross-sectional view of a first sleeve in a material rotating device provided in an exemplary embodiment of this application is shown;

[0021] Figure 4 A left view of a material rotating device provided in an exemplary embodiment of this application is shown;

[0022] Figure 5 This application shows a front view of a material rotating device provided in an exemplary embodiment;

[0023] Figure 6 This invention provides a schematic diagram of the structure of a push rod and an auxiliary push rod in a material rotating device according to an exemplary embodiment of this application.

[0024] Figure 7 This application shows a cross-sectional view of the connector between the push rod and the auxiliary push rod in a material rotating device according to an exemplary embodiment of the present application;

[0025] Figure 8 This invention provides a schematic diagram of the structure of a movable seat module in a material rotating device according to an exemplary embodiment of the present application.

[0026] Figure 9 This illustration shows a schematic diagram of a sliding seat structure in a material rotating device according to an exemplary embodiment of this application;

[0027] Figure 10 This invention provides a schematic diagram of the structure of a rotating body in a material rotating device according to an exemplary embodiment of the present application.

[0028] Figure 11 This invention provides a schematic diagram of the structure of a lifting top platform module and a moving lever module in a material rotating device according to an exemplary embodiment of the present application.

[0029] In the diagram, 1 is the movable seat module, 2 is the first sleeve, 3 is the gasket, 4 is the connecting rod, 5 is the base, 6 is the first motor, 7 is the second sleeve, 8 is the second motor, 9 is the moving guide rod, 10 is the fixed guide rod, 11 is the snap ring, 12 is the spring, 13 is the sliding seat, 14 is the rotating body, 15 is the lifting platform module, 16 is the first push rod, 17 is the first push rod sleeve, 18 is the half-threaded bolt, 19 is the movable lever module, 20 is the second push rod, and 21 is the second push rod sleeve. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0031] The material rotation device provided in this application can simultaneously realize the movement and rotation of multiple materials, saving operation time and reducing production costs.

[0032] Example 1

[0033] Figure 1 A schematic diagram of a material rotating device provided in an embodiment of the present invention is shown.

[0034] See Figure 1 In some embodiments, the material rotating device provided by the present invention includes:

[0035] The system includes a movable seat module 100, a movable seat translation module 200, a base 300, a lifting platform module 400, and a movable lever module 500; the number of movable seat modules 100 is greater than one.

[0036] The movable seat module 100 is used to fix the material;

[0037] The movable seat translation module 200 is connected to each movable seat module 100 and is used to drive each movable seat module 100 to move in the horizontal direction.

[0038] The bottom surface of the lifting platform module 400 is fixedly connected to the base 300, and the top surface of the lifting platform module 400 is fixedly connected to the bottom surface of the moving lever module 500; the lifting platform module 400 is used to drive the moving lever module 500 to move up and down.

[0039] The movable seat module 100 is located above the movable lever module 500. When each of the movable seat modules 100 moves to a position corresponding to the movable lever module 500, and the movable lever module 500 rises to the action position, the movable lever module 500 is used to drive each of the movable seat modules 100 to rotate.

[0040] The material rotation device provided in this embodiment of the invention can realize the simultaneous translation of multiple materials and the rotation of the materials themselves on the plane through the above structure, which facilitates subsequent processing operations on the materials and can save operation time and costs.

[0041] Figure 2 The diagram shows the structure of the moving seat translation module, the moving seat module, and the base in the material rotating device provided in the embodiment of the present invention.

[0042] Figure 3 A cross-sectional view of the first sleeve in the material rotating device provided in an embodiment of the present invention is shown.

[0043] It should be noted that the longitudinal and transverse directions in this embodiment are only used to distinguish mutually perpendicular guide rods and do not limit the position of each guide rod in actual use.

[0044] In some embodiments, see Figure 2 and Figure 3 The movable seat translation module 200 includes a fixed guide rod 10, a movable guide rod 9, a first sleeve 2, and a guide rod drive module;

[0045] The fixed guide rod 9 is fixed relative to the base 5. The fixed guide rod 10 includes two longitudinal fixed guide rods and two transverse fixed guide rods, and the longitudinal fixed guide rods and transverse fixed guide rods form a rectangle.

[0046] The moving guide rod 9 includes at least one transverse moving guide rod and at least one longitudinal moving guide rod; each end of each moving guide rod 9 is fixedly connected to one of the first sleeves 2;

[0047] Each transverse moving guide rod is connected between two longitudinal fixed guide rods through the first sleeve 2; each longitudinal moving guide rod is connected between two transverse fixed guide rods through the first sleeve 2; each first sleeve 2 is slidably connected to the fixed guide rod 10.

[0048] The guide rod drive module is connected to each of the moving guide rods 9 respectively, so as to drive the transverse moving guide rod to move along the longitudinal fixed guide rod, and drive the longitudinal moving guide rod to move along the transverse fixed guide rod;

[0049] Each of the movable seat modules 1 is disposed at the intersection of the transverse movable guide rod and the longitudinal movable guide rod. Each movable seat module 1 is slidably connected to the corresponding transverse movable guide rod and the corresponding longitudinal movable guide rod. The movable guide rod 9 is used to drive the movable seat module to move.

[0050] Figure 4 A left view of the material rotating device provided in an embodiment of the present invention is shown.

[0051] See Figures 2 to 4 In some embodiments, the guide rod drive module includes a first push rod 16, a second sleeve 7, a connecting rod 4, a half-threaded bolt 18, and a first push rod drive module;

[0052] The first push rod 16 is parallel to the first transverse guide rod, and the first transverse guide rod can be any transverse guide rod;

[0053] The first push rod 16 is provided with a second sleeve 7, and each second sleeve 7 is slidably connected to the first push rod 16; the number of second sleeves 7 on the first push rod 16 is one less than the number of first sleeves 2 on the first transverse guide rod;

[0054] The first sleeve 2 and the second sleeve 7 are arranged alternately, and the midpoint between every two adjacent first sleeves 2 corresponds to a second sleeve 7; every two adjacent first sleeves 2 correspond to two connecting rods 4, the upper end of each connecting rod 4 is connected to a first sleeve 2 by a half thread bolt 18, and the lower end of each connecting rod 4 is connected to the second sleeve 7 corresponding to the midpoint between adjacent first sleeves 2 by a half thread bolt 18.

[0055] The first push rod drive module is used to drive the first push rod 16 to move up and down, so as to drive the longitudinal moving guide rod to move horizontally through the second sleeve 7, the connecting rod 4, the first sleeve 2 and the transverse fixed guide rod.

[0056] In some embodiments, the connecting rod is a plate-shaped connecting rod, and the connecting rod connected to the first push rod has the same length.

[0057] The connecting rod can rotate freely around the half-threaded bolt, and the connecting rods connected to the first push rod are distributed on two parallel planes. Adjacent connecting rods are located on different planes to ensure smooth sliding of the connecting rods.

[0058] In some embodiments, the first push rod drive module includes a first motor 6, a first auxiliary push rod, and a first push rod sleeve 17;

[0059] The upper end of the first auxiliary push rod is fixed to the midpoint of the first push rod 16 and is perpendicular to the first push rod 16;

[0060] The first push rod sleeve 17 is fixed relative to the base 5. The first auxiliary push rod passes through the first push rod sleeve 17 and moves up and down under the limit of the first push rod sleeve 17 and driven by the first motor 6. When the first auxiliary push rod moves, it drives the first push rod 16 to move up and down.

[0061] Optionally, the output shaft of the first motor 6 is equipped with a gear, and the first auxiliary push rod is equipped with a rack to drive the first auxiliary push rod to move up and down.

[0062] Figure 5 A front view of the material rotating device provided in an embodiment of the present invention is shown.

[0063] Figure 6 (a) to Figure 6 (c) shows a schematic diagram of the push rod and auxiliary push rod in the material rotating device provided in an embodiment of the present invention. Figure 6 (a) Front view Figure 6 (b) is the left view. Figure 6 (c) is a top view.

[0064] Figure 7 A cross-sectional view of the connector between the push rod and the auxiliary push rod in the material rotating device provided in an embodiment of the present invention is shown.

[0065] See Figures 2 to 7 In some embodiments, the guide rod drive module includes a second push rod 20, a second sleeve 21, a connecting rod 4, a half-threaded bolt 18, and a second push rod drive module;

[0066] The second push rod 20 is parallel to the first longitudinal guide rod, and the first longitudinal guide rod can be any longitudinal guide rod;

[0067] The second push rod 20 is provided with a second sleeve 7, and each second sleeve 7 is slidably connected to the second push rod 20; the number of second sleeves 7 on the second push rod 20 is one less than the number of first sleeves 2 on the first longitudinal guide rod;

[0068] The first sleeve 2 and the second sleeve 7 are arranged alternately, and the midpoint between every two adjacent first sleeves 2 corresponds to a second sleeve 7; every two adjacent first sleeves 2 correspond to two connecting rods 4, the upper end of each connecting rod 4 is connected to a first sleeve 2 by a half thread bolt 18, and the lower end of each connecting rod 4 is connected to the second sleeve 7 corresponding to the midpoint between adjacent first sleeves 2 by a half thread bolt 18.

[0069] The second push rod drive module is used to drive the second push rod 20 to move up and down, so as to drive the transverse moving guide rod to move horizontally through the second sleeve 21, the connecting rod 4, the first sleeve 2 and the longitudinal fixed guide rod.

[0070] In some embodiments, the connecting rod is a plate-shaped connecting rod, and the connecting rod connected to the second push rod has the same length.

[0071] In some embodiments, the second push rod drive module includes a second motor 8, a second auxiliary push rod, and a second push rod sleeve 21;

[0072] The upper end of the second auxiliary push rod is fixed to the midpoint of the second push rod 20 and is perpendicular to the second push rod 20;

[0073] The second push rod sleeve 21 is fixed relative to the base 5. The second auxiliary push rod passes through the second push rod sleeve 21 and moves up and down under the limit of the second push rod sleeve 21 driven by the second motor 8. When the second auxiliary push rod moves, it drives the second push rod 20 to move up and down.

[0074] In some embodiments, the number of movable seat modules can be adjusted by adjusting the number of transverse and longitudinal movable guide rods.

[0075] In some embodiments, the transverse or longitudinal moving guide rod can be fixed in place, so that the moving seat module makes uniform motion in only one direction.

[0076] In some embodiments, the mechanism for providing up-and-down movement for the first push rod or the second push rod may include, but is not limited to, a motor gear rack mechanism, a motor lead screw guide module, a motor linkage mechanism, etc.

[0077] Figure 8 A schematic diagram of the moving seat module structure in the material rotating device provided in an embodiment of the present invention is shown.

[0078] Figure 9 (a) to Figure 9 (d) shows a schematic diagram of the sliding seat structure in the material rotating device provided in an embodiment of the present invention. Figure 9 (a) is a three-dimensional view of the sliding seat. Figure 9 (b) is a top view of the sliding seat. Figure 9 (c) is the left view of the sliding seat. Figure 9 (d) is the main view of the sliding seat.

[0079] Figure 10 (a) to Figure 10 (c) shows a schematic diagram of the rotating structure in the material rotating device provided in an embodiment of the present invention. Figure 10 (a) is the front view after rotation. Figure 10 (b) is a cross-sectional view of the body after rotation. Figure 10 (c) is a top view after rotation.

[0080] See Figures 2 to 10 In some embodiments, each of the movable seat modules 1 includes a sliding seat 13 and a rotating body 14;

[0081] The rotating body 14 is disposed above the sliding seat 13, and the sliding seat 13 is connected to the moving seat translation module. The sliding seat 13 is used to drive the rotating body 14 to move.

[0082] The sliding seat 13 is provided with a lever through hole, and the rotating body 14 is provided with a groove. When each of the moving seat modules 1 moves to the position corresponding to the lever module 19, and the moving lever module 19 rises to the action position, the lever of the moving lever module 19 passes through the lever through hole of the sliding seat 13 and moves the groove of the rotating body 14 to drive the rotating body 14 to rotate.

[0083] Specifically, the through hole of the lever is a long strip-shaped through hole to meet the needs of lever movement.

[0084] Specifically, the rotating body 14 is provided with multiple elongated grooves, and each groove is evenly distributed on the radius of the bottom surface of the rotating body to meet the needs of the lever.

[0085] In some embodiments, the movable seat module 1 further includes a retaining ring 11 and a spring 12, the sliding seat 13 is provided with a rotating through hole, and the rotating body 14 is provided with a rotating shaft;

[0086] The spring 12 is disposed below the rotating body through hole, and the rotating shaft of the rotating body 14 passes through the rotating body through hole of the sliding seat 13 and the spring 12; the lower end of the spring 12 is connected to the lower end of the rotating shaft through the snap ring 11, and the upper end of the spring 12 is connected to the sliding seat 13.

[0087] When each of the movable seat modules 1 moves to the position corresponding to the movable lever module 19, and the movable lever module 19 rises to the action position, the lifting platform module 15 compresses the spring 12 through the snap ring 11 to make the rotating body 14 rise; the lever of the movable lever module 19 passes through the lever through hole of the sliding seat 13 and moves the groove of the rotating body 14 to drive the rotating body 14 to rotate.

[0088] In some embodiments, the retaining ring 11 is engaged in a groove at the bottom end of the shaft.

[0089] In some embodiments, the spring 12 is under appropriate stress during operation.

[0090] In some embodiments, the sliding seat includes a first limiting structure, and the rotating body includes a second limiting structure;

[0091] The first limiting structure and the second limiting structure are used to stably connect the sliding seat and the rotating body when the sliding seat and the rotating body are at a preset angle.

[0092] In some embodiments, the first limiting structure is a plurality of protrusions on the upper surface of the sliding seat, and the second limiting structure is a plurality of conical grooves on the lower surface of the rotating body. The protrusions and conical grooves are the same size, so that the protrusions and conical grooves align at a preset angle to achieve a stable connection between the sliding seat and the rotating body.

[0093] In some embodiments, by setting different limit structure positions and coordinating with the toggle angle of the movable lever module, rotation at different angles can be achieved.

[0094] In some embodiments, the upper surface of the rotating body is provided with a material trough, and the material trough is provided with a low-pressure pipe.

[0095] Specifically, the material tank is matched to the shape of the material to facilitate material fixation, and the low-pressure pipeline is used to provide low pressure to adsorb the material.

[0096] Figure 11 A schematic diagram of the lifting platform module and the movable lever module provided in an embodiment of the present invention is shown.

[0097] See Figures 2 to 11In some embodiments, the lifting platform module 15 includes protruding structures, and the number of protruding structures is the same as the number of the movable seat module 1;

[0098] When each movable seat module 1 moves to the position corresponding to the movable lever module 19, and the movable lever module 19 rises to the action position, the lifting platform module 15 compresses the spring 12 through the protruding structure and the retaining spring 11, so that the rotating body 14 rises.

[0099] In some embodiments, the movable lever module 19 includes a lever and a lever drive module; the number of levers is the same as the number of movable base modules 1;

[0100] When each of the movable seat modules 1 moves to the position corresponding to the movable lever module 19, and the movable lever module 19 rises to the action position, each lever drives the movable seat module 1 to rotate under the drive of the lever drive module.

[0101] In some embodiments, each lever moves in unison under the drive of the lever drive module to ultimately achieve the rotation of the material relative to itself on the plane.

[0102] In some embodiments, the lifting platform module 15 includes a power unit to enable vertical movement relative to the base. Optionally, the power unit includes, but is not limited to, a motor lead screw guide module, a linear motor module, a cylinder, a motor linkage mechanism, and a motor cam mechanism.

[0103] In some embodiments, the movable lever module 19 can be translated on the upper surface of the lifting platform module 15, and its power unit includes, but is not limited to, a motor lead screw guide module, a linear motor module, a cylinder, a motor linkage mechanism, and a motor cam mechanism.

[0104] The chip moving device provided in this embodiment of the invention can realize the movement, dispersion, and rotation of a large number of chips around a specific angle. It has a simple structure, is easy to miniaturize, and is suitable for handling various small chip materials. Furthermore, the device provided in this embodiment of the invention contains fewer power modules, resulting in lower manufacturing costs. It can significantly improve production efficiency and reduce production costs during chip testing and packaging.

[0105] Example 2

[0106] The following describes the operation mode of the material rotating device provided in the embodiments of the present invention.

[0107] Step 101: In response to the start command, control the moving seat translation module to move each moving seat module to the material feeding position; the material feeding position corresponds to the target material.

[0108] Optionally, in response to the start command, the first and second motors are powered on, and the moving seat module is moved through the first push rod, the second push rod, and each moving guide rod.

[0109] Step 102: Place each target material onto each of the aforementioned mobile seat modules.

[0110] Specifically, multiple materials are brought into contact with the upper surfaces of multiple rotating bodies 14, and low-pressure air is supplied so that the materials are adsorbed onto the upper surfaces of the rotating bodies.

[0111] Step 103: Control the translation module of the moving seat to move each of the moving seat modules to the lever position; the lever position corresponds to the moving lever module.

[0112] Step 104: Control the lifting platform module to drive the moving lever module to rise to the first height, and drive each of the moving seat modules to rotate to the target angle through the moving lever module; the first height corresponds to the moving seat module.

[0113] Specifically, the lever side of the movable lever module 19 moves to a suitable position relative to the lifting platform module 15, so that when the lifting platform module 15 is raised, the lever can be inserted into the long slot of the rotating body 14 through the long hole of the sliding seat 13.

[0114] When the lifting platform module 15 rises, the protrusion on the lifting platform module 15 compresses the spring 12 via the contact spring 11, causing the rotating body 14 to move upward a certain distance relative to the sliding seat 13 along the rotating body axis. Simultaneously, the lever of the moving lever module 19 is inserted into the long slot of the rotating body 14 through the elongated hole of the sliding seat 13. The lever of the moving lever module 19 can move a fixed distance along the direction of the elongated hole of the sliding seat 13, causing the rotating body 14 to rotate at a specific angle.

[0115] Step 105: Control the lifting platform module to drive the moving lever module to descend to the initial height.

[0116] Specifically, the lifting platform module 15 disengages from the retaining ring 11, the sliding seat protrusion contacts the conical groove of the rotating body 14, and the lever moves away from the moving seat module.

[0117] Step 106: Control the translation module of the moving seat to move each moving seat module to the operation position or the material picking position.

[0118] Steps 103 to 106 can be repeated to achieve different processes.

[0119] Once the material processing is complete, disconnect the low-pressure air to allow multiple material particles to detach from the upper surfaces of multiple rotating bodies 14.

[0120] The above are merely optional embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A material rotating device, characterized in that, The device includes: The system includes a movable seat module, a movable seat translation module, a base, a lifting platform module, and a movable lever module; the number of movable seat modules is greater than one. The movable seat module is used to fix the material; The translation module of the moving seat is connected to each moving seat module and is used to drive each moving seat module to move in the horizontal direction. The bottom surface of the lifting platform module is fixedly connected to the base, and the top surface of the lifting platform module is fixedly connected to the bottom surface of the moving lever module; the lifting platform module is used to drive the moving lever module to move up and down. The movable seat module is located above the movable lever module. When each of the movable seat modules and the movable lever module moves to the corresponding position and the movable lever module rises to the action position, the movable lever module is used to drive each of the movable seat modules to rotate. Each of the movable seat modules includes a sliding seat and a rotating body; The rotating body is positioned above the sliding seat, and the sliding seat is connected to the translation module of the moving seat. The sliding seat is used to drive the rotating body to move. The sliding seat is provided with a lever through hole, and the rotating body is provided with a groove. When each of the moving seat modules moves to the position corresponding to the lever module, and the moving lever module rises to the action position, the lever of the moving lever module passes through the lever through hole of the sliding seat and moves the groove of the rotating body to drive the rotating body to rotate.

2. The device according to claim 1, characterized in that, The movable seat translation module includes a fixed guide rod, a movable guide rod, a first sleeve, and a guide rod drive module; The fixed guide rod is fixed in position relative to the base. The fixed guide rod includes two longitudinal fixed guide rods and two transverse fixed guide rods, and the longitudinal fixed guide rods and transverse fixed guide rods form a rectangle. The moving guide rod includes at least one transverse moving guide rod and at least one longitudinal moving guide rod; each end of each moving guide rod is fixedly connected to one of the first sleeves; Each transverse movable guide rod is connected between two longitudinal fixed guide rods via the first sleeve; each longitudinal movable guide rod is connected between two transverse fixed guide rods via the first sleeve; each first sleeve is slidably connected to the fixed guide rod. The guide rod drive module is connected to each of the moving guide rods respectively, so as to drive the transverse moving guide rod to move along the longitudinal fixed guide rod, and drive the longitudinal moving guide rod to move along the transverse fixed guide rod; Each of the movable seat modules is disposed at the intersection of the transverse movable guide rod and the longitudinal movable guide rod. Each movable seat module is slidably connected to the corresponding transverse movable guide rod and the corresponding longitudinal movable guide rod. The movable guide rod is used to drive the movable seat module to move.

3. The device according to claim 2, characterized in that, The guide rod drive module includes a first push rod, a second sleeve, a connecting rod, a half-threaded bolt, and a first push rod drive module; The first push rod is parallel to the first transverse guide rod, and the first transverse guide rod can be any transverse guide rod. The first push rod is provided with a second sleeve, and each second sleeve is slidably connected to the first push rod; the number of second sleeves on the first push rod is one less than the number of first sleeves on the first transverse guide rod; The first sleeve and the second sleeve are arranged alternately, with the midpoint between every two adjacent first sleeves corresponding to a second sleeve; every two adjacent first sleeves correspond to two connecting rods, with the upper end of each connecting rod connected to a first sleeve by a half-threaded bolt, and the lower end of each connecting rod connected to the second sleeve corresponding to the midpoint between adjacent first sleeves by a half-threaded bolt. The first push rod drive module is used to drive the first push rod to move up and down, so as to drive the longitudinal moving guide rod to move horizontally through the second sleeve, the connecting rod, the first sleeve and the transverse fixed guide rod.

4. The device according to claim 3, characterized in that, The first push rod drive module includes a first motor, a first auxiliary push rod, and a first push rod sleeve; The upper end of the first auxiliary push rod is fixed to the midpoint of the first push rod and is perpendicular to the first push rod; The first push rod sleeve is fixed in position relative to the base. The first auxiliary push rod passes through the first push rod sleeve and moves up and down under the limit of the push rod sleeve driven by the first motor. When the first auxiliary push rod moves, it drives the first push rod to move up and down.

5. The device according to claim 2, characterized in that, The guide rod drive module includes a second push rod, a second sleeve, a connecting rod, a half-threaded bolt, and a second push rod drive module; The second push rod is parallel to the first longitudinal guide rod, and the first longitudinal guide rod can be any longitudinal guide rod; The second push rod is provided with a second sleeve, and each second sleeve is slidably connected to the second push rod; the number of second sleeves on the second push rod is one less than the number of first sleeves on the first longitudinal guide rod; The first sleeve and the second sleeve are arranged alternately, with the midpoint between every two adjacent first sleeves corresponding to a second sleeve; every two adjacent first sleeves correspond to two connecting rods, with the upper end of each connecting rod connected to a first sleeve by a half-threaded bolt, and the lower end of each connecting rod connected to the second sleeve corresponding to the midpoint between adjacent first sleeves by a half-threaded bolt. The second push rod drive module is used to drive the second push rod to move up and down, so as to drive the transverse moving guide rod to move horizontally through the second sleeve, the connecting rod, the first sleeve and the longitudinal fixed guide rod.

6. The device according to claim 5, characterized in that, The second push rod drive module includes a second motor, a second auxiliary push rod, and a second push rod sleeve; The upper end of the second auxiliary push rod is fixed to the midpoint of the second push rod and is perpendicular to the second push rod; The second push rod sleeve is fixed in position relative to the base. The second auxiliary push rod passes through the second push rod sleeve and moves up and down under the limit of the push rod sleeve driven by the second motor. When the second auxiliary push rod moves, it drives the second push rod to move up and down.

7. The device according to claim 1, characterized in that, The movable seat module also includes a retaining ring and a spring, and the sliding seat is provided with a rotating through hole and a rotating shaft; The spring is disposed below the through hole of the rotating body, and the rotating shaft of the rotating body passes through the through hole of the sliding seat and the spring; the lower end of the spring is connected to the lower end of the rotating shaft through the snap ring, and the upper end of the spring is connected to the sliding seat; When each of the movable seat modules moves to the position corresponding to the movable lever module, and the movable lever module rises to the action position, the lifting top platform module compresses the spring through the retaining ring to make the rotating body rise; the lever of the movable lever module passes through the lever through hole of the sliding seat and moves the groove of the rotating body to drive the rotating body to rotate.

8. The device according to claim 1, characterized in that, The sliding seat includes a first limiting structure, and the rotating body includes a second limiting structure; The first limiting structure and the second limiting structure are used to stably connect the sliding seat and the rotating body when the sliding seat and the rotating body are at a preset angle.

9. The device according to claim 1, characterized in that, The upper surface of the rotating body is provided with a material trough, and the material trough is provided with a low-pressure pipe.

10. The device according to claim 7, characterized in that, The lifting platform module includes protruding structures, and the number of protruding structures is the same as the number of movable seat modules; When each movable seat module moves to the position corresponding to the movable lever module, and the movable lever module rises to the action position, the lifting platform module compresses the spring through the protruding structure and the retaining spring, so that the rotating body rises.

11. The device according to claim 1, characterized in that, The movable lever module includes a lever and a lever drive module; the number of levers is the same as the number of movable base modules. When each of the movable seat modules moves to the position corresponding to the movable lever module, and the movable lever module rises to the action position, each lever drives the movable seat module to rotate under the drive of the lever drive module.

12. A control method for a material rotating device, applied to the material rotating device as described in any one of claims 1 to 11, characterized in that, The method includes: In response to the start command, the control of the moving seat translation module drives each moving seat module to the material feeding position; the material feeding position corresponds to the target material, and each target material is placed on each of the moving seat modules respectively; The control unit moves each of the movable base modules to the lever position; the lever position corresponds to the movable lever module. The lifting platform module controls the moving lever module to rise to a first height, and the moving lever module drives each moving seat module to rotate to a target angle; the first height corresponds to the moving seat module. The lifting platform module is controlled to lower the moving lever module to the initial height, and the moving seat translation module is controlled to move each moving seat module to the operation position or material picking position.

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